WO2020064099A1 - Procédé pour maintenir la position de rotation d'un rotor, sollicité par un couple extérieur, d'une machine à courant triphasé à excitation doté d'un démarreur progressif et machine à courant triphasé - Google Patents

Procédé pour maintenir la position de rotation d'un rotor, sollicité par un couple extérieur, d'une machine à courant triphasé à excitation doté d'un démarreur progressif et machine à courant triphasé Download PDF

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Publication number
WO2020064099A1
WO2020064099A1 PCT/EP2018/076126 EP2018076126W WO2020064099A1 WO 2020064099 A1 WO2020064099 A1 WO 2020064099A1 EP 2018076126 W EP2018076126 W EP 2018076126W WO 2020064099 A1 WO2020064099 A1 WO 2020064099A1
Authority
WO
WIPO (PCT)
Prior art keywords
rotor
phase machine
determined
machine
current
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/076126
Other languages
German (de)
English (en)
Inventor
Hauke NANNEN
Heiko Zatocil
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Priority to DE112018008024.2T priority Critical patent/DE112018008024A5/de
Priority to PCT/EP2018/076126 priority patent/WO2020064099A1/fr
Priority to CN201880097932.9A priority patent/CN112740541B/zh
Publication of WO2020064099A1 publication Critical patent/WO2020064099A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/16—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using AC to AC converters without intermediate conversion to DC
    • H02P27/18—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using AC to AC converters without intermediate conversion to DC varying the frequency by omitting half waves
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/02—Details of stopping control
    • H02P3/025—Details of stopping control holding the rotor in a fixed position after deceleration
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
    • H02P3/26—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by combined electrical and mechanical braking
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting

Definitions

  • a three-phase machine converts mechanical energy into three-phase current or three-phase current into mechanical energy. In principle, it can be operated as an electric generator or as an electric motor. Measures to limit the power when switching on an electrical device, for example an electrical motor, are referred to as soft starting.
  • PMSM permanent magnet synchronous machine
  • FIG. 1 shows a schematic representation of such a permanently excited synchronous machine M, in the embodiment as an inner pole machine with a stator St and a rotor L.
  • the rotor comprises a magnetic north pole N and south pole S.
  • the stator St includes winding strands U, V, W.
  • the representation is to be understood only as an example and has no restrictive effect on the scope of protection of the claimed subject matter.
  • a damper cage can be provided in the rotor of the machine, which, although it does allows running on the rigid network, but the feeding network is heavily burdened by very high starting currents.
  • a suitable power electronic actuator such as a frequency converter or soft starter
  • a soft starter also called a soft starter
  • Such a smooth start is, however, often only possible in the no-load condition or at low load.
  • the encoder system has a negative impact on the cost and availability of the system, which currently makes a soft starter solution unattractive for highly efficient motors. From the- For this reason, a procedure for starting up without an encoder should be sought.
  • the required method differs from the sensorless method known in the prior art in that it must be usable for a thyristor controller and not for a frequency converter. Thus, these known procedures are not applicable.
  • a method for maintaining the rotational position of a rotor which is subjected to an external moment in a permanently excited three-phase machine with a soft starter.
  • the external moment is in particular a moment of a load, e.g. a weight of the load or moment of inertia of a device moved by the rotor.
  • the method comprises the following steps: S1) applying two phases of the three-phase machine with current pulses; S2) determining at least one electrical parameter of the three-phase machine; S3) evaluation of the at least one electrical characteristic variable in order to infer a static or a rotating state of the rotor as a function of a value or a temporal value profile of the at least one electrical characteristic variable; and S4) if it is determined in step S3 that the rotor is in a rotating state, initiating countermeasures.
  • the method enables, in particular short-term, holding a shaft position of a shaft that is connected to the rotor in a rotationally fixed manner.
  • This can e.g. used for lifting operations when a mechanical brake is opened but has not yet been completely released.
  • the shaft can be kept electrically for a short time to enable safe opening of the mechanical brake.
  • the method can also be used to hold a shaft, which is connected to the rotor in a rotationally fixed manner and whose speed is reduced to zero, before the intervention of a mechanical brake. As a result, the wear of the mechanical brake can be reduced, since the mechanical brake is only actuated when the rotor or the shaft is at a standstill.
  • the method thus makes it possible to improve the transition when the mechanical brake is opened or closed.
  • the method can be used when moving vertical or horizontal loads, e.g. in an elevator, a conveyor belt or a pallet conveyor.
  • the amplitude of the current pulses is determined as an electrical parameter. Located if the rotor is in a static state, the amplitude of the current pulses does not change. If the rotor is turned towards it by the external load, this is noticeable in a change in the current amplitude. The evaluation of the temporal change in the amplitude of the current pulses thus enables the conclusion whether the rotor is rotated by the external load or not, without further sensor technology.
  • a voltage induced in the phases of the three-phase machine is determined as an electrical characteristic. If the rotor is in a static state, no voltage can be measured in the phases of the three-phase machine during the principle of the blocking time of the thyristors of the SanftStarter. On the other hand, during a rotation of the rotor caused by the external load, a voltage is induced in the phases of the three-phase machine, the presence and amount of which is determined. The evaluation of the presence and the change over time of the induced voltage thus enables the conclusion whether the rotor is rotated by the external load or not, without any further sensors.
  • the electrical characteristic variable is preferably determined after a predetermined time has elapsed, in which the system “swings in”.
  • the predetermined time can be, for example, between 50 msec and 200 msec.
  • Both of these methods can be combined with each other to increase the security of the decision about a static or rotating rotor.
  • the initiation of countermeasures in step S4) ie upon the detection of a rotation of the rotor caused by the external load, comprises increasing the amplitude of the current pulses. This can counteract the torque generated externally by the load, so that holding the load without a mechanical brake is made possible or at least attempted.
  • the initiation of countermeasures in step S4) can alternatively include the output of a control signal for closing the mechanical brake.
  • a further embodiment provides that as step Sla between step S1 and S2 the output of a control signal for releasing the mechanical brake takes place.
  • This configuration is useful if the rotor is to change from a standstill to a rotating state, e.g. when starting an elevator or conveyor belt.
  • steps S1 to S4 are carried out when a predetermined end position is detected when the rotor is rotating. This configuration is useful if the rotor is to change from a rotating state to a standstill, e.g. when braking a lift or conveyor belt.
  • a control signal for closing the mechanical brake can be output.
  • control device for a three-phase machine with a soft starter which is characterized in that it is set up to carry out the method described herein. This is associated with the same advantages as those described in connection with the inventive method.
  • a three-phase machine with a soft starter is also proposed. This is designed to carry out the method described here, whereby a holding of the three-phase machine is made possible.
  • 1 shows a section through an exemplary three-phase machine.
  • Fig. 2 is a schematic representation of the invention
  • Figure 3 is a diagram of the current direction with discrete current space pointers.
  • Fig. 5 curves over time of the mains voltage, the motor
  • FIG. 6 shows a flow chart of the method according to the invention.
  • Figure 2 shows the basic desired structure of the three-phase machine designed as a permanently excited synchronous machine M with soft starter SS (eg Sirius soft starter) without encoder and with encoder G on the left.
  • the three-phase machine can be designed, for example, as an inner pole machine with a stator St and a rotor L.
  • the rotor L comprises a magnetic north pole N and south pole S.
  • the stator St comprises winding strands U, V, W.
  • the rotor L can, for example, be connected in a rotationally fixed manner (or via a gear) to a shaft, not shown, which is generated by an external load is loaded with a, in particular constant, moment.
  • the load can be held by controlling the three-phase machine M by means of the SanftStarter SS.
  • the method can be used for the movement of vertical or horizontal loads, for example in an elevator, a conveyor belt or a pallet conveyor. The method enables an improved transition when opening or closing a mechanical brake.
  • the method described in more detail below uses a method described by the applicant in WO 2018/072810 A1, by means of which a current space vector with a fixed angle and pulsating amplitude can be generated with the aid of the SanftStarters SS in order to apply a torque which is of the same size as that of the external one Load corresponds and counteracts this.
  • the machine is subjected to pulsating currents in a defined direction and aligned by them in a clear direction.
  • the current profile is also analyzed so that it can be determined whether the machine is moving at all. The individual steps are explained in more detail below.
  • An equally aligned field is built up in the machine by the current flow in one of the six possible directions. If the flow axis of the machine is not in this direction determined by the current, a torque is generated and the machine begins to turn in the direction of the stator current space pointer - it therefore automatically aligns itself in the current direction. As soon as the flow axis of the machine coincides with the direction of the current, there is no more torque.
  • the optimum ignition angle is first determined. This is used for all other alignment processes.
  • two thyristors are ignited only once at a very large ignition angle (e.g. 180 °) and the
  • Amplitude value of the phase currents determined. Due to the large ignition angle, the effective voltage time area on the machine and thus the maximum of the resulting current are very small. If the current amplitude is less than a defined maximum value, the firing angle of the thyristor controller is slowly increased from e.g. Reduced 180 ° and the current amplitude value compared to that with the maximum value. This process is repeated until the amplitude value is sufficiently close to the maximum value. For all further measurements, the amplitude value of the currents must be continuously monitored and, if necessary, the optimal ignition angle must be adjusted again. To simplify matters, it is further assumed that this is not necessary.
  • the machine was able to align itself due to the pulsating currents. However, this does not guarantee that the machine is already fully aligned. For this reason, the thyristors of the SanftStarter are fired several times (the number can be calibrated) with the determined optimal ignition angle, so that in the end it can be assumed that the machine is no longer moving and is therefore aligned. Finally, the course of the current space pointer is recorded during an ignition process and used as a reference course in the subsequent measurements.
  • the motor is thus energized with a current space pointer with a fixed angle and pulsating amplitude, in that the thyristors are ignited by only two motor phases, while the third phase is not ignited.
  • the amplitude of the current space vector can be set using the control angle.
  • the machine If the machine is energized with such a pulsating current space pointer, it applies a torque as long as the flow angle does not match the angle of the pulsating stator current space pointer. In the case of a constant counter torque, this means that the rotor is caused by the counter torque, as far as moved out of the angle of the stator current space until the pulsating torque averaged over a network period corresponds to the counter torque and the machine stops.
  • Fig. 4 shows temporal profiles of the mains voltage U N , the motor current I M , the mechanical rotor angle m , the rotor speed n m and the electrically generated torque M M of a three-phase machine with a soft starter in holding mode with a constant counter torque of lONm, what in the first approximation corresponds to the nominal torque of the three-phase machine.
  • the three-phase machine is subjected to the described current space pointer with a pulsating amplitude.
  • the change in the mechanical rotor angle m can be recognized from the amplitude of the motor current I M which changes between 0 ⁇ t ⁇ 0.1 sec. After reaching the steady state, the amplitude of the motor current I M then remains the same.
  • the evaluation of the motor current I M as an electrical parameter thus enables a determination as to whether the Haltzu status has been reached (ie the rotor L does not rotate) or whether the halt status has not been reached (ie there is a rotation).
  • a voltage induced in the phases of the three-phase machine can be determined as an electrical characteristic variable in order to determine whether or not the rotor L is in the stopped state. If the rotor L is in a static state, no voltage can be measured in the phases of the three-phase machine during the principle-related blocking time of the thyristors of the SanftStarters SS. On the other hand, in the event of a rotation of the rotor caused by the external load, a voltage is induced in the phases of the three-phase machine, the presence and amount of which is determined. The evaluation of the presence and the Changes in the induced voltage over time therefore also allow the conclusion whether the rotor is rotated by the external load or not, without any further sensors.
  • the rotor L of the three-phase machine moves slightly in the stationary state, since the motor is accelerated in one pulse direction in the pulse pauses and in the other direction when energized.
  • the resulting ripple of the mechanical angle is about 6 degrees in the case described.
  • Fig. 5 shows how the time profiles of the mains voltage U N , the motor current I M , the mechanical rotor angle m , the rotor speed n m and the electrically generated torque M M of a three-phase machine with a soft starter in holding mode with a constant counter torque of 12 Nm. Due to the rotation of the rotor L of the three-phase machine caused by the excessive external torque, voltages are induced in the stator, which have a significant influence on the stator currents.
  • a rotation of the rotor L (so-called tilting away) can be recognized and counteracted, for example, by increasing the phase current by adapting the control angle.
  • a mechanical brake can be activated.
  • Fig. 6 shows a flow chart of the method according to the invention.
  • step S1 two of the three phases U, V, W of the three-phase machine M are subjected to current pulses.
  • step S2 at least one electrical characteristic of the three-phase machine M, such as the amplitude of the current pulses and / or induced voltages in the current phases, is determined.
  • step S3 the evaluation of the at least one electrical parameter takes place in order to depend on a value or a temporal course of values of the at least one electrical parameter. see characteristic to conclude that the rotor L is static or rotating. If it is determined in step S4 that there is a rotating state of the rotor L, countermeasures, such as an increase in the amplitude of the current pulses or the application of a mechanical brake, are initiated.
  • the described method is based solely on the measurement values already available in a series device and does not require any additional sensors. It is thus possible to build an existing one

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Motor And Converter Starters (AREA)

Abstract

Pour atteindre la catégorie de rendement énergétique IE4 définie dans la norme IEC 60034, il est nécessaire de faire fonctionner des machines synchrones à excitation permanente directement sur le réseau. Comme ce n'est tout simplement pas possible, des démarreurs progressifs constituent une solution économiquement rentable. La présente invention concerne un procédé permettant de maintenir un rotor, sollicité par un couple extérieur, d'une machine à courant triphasé (M) à excitation permanente. Selon ce procédé, deux phases (U, V, M) sont sollicitées par des impulsions de courant et au moins une grandeur caractéristique électrique de la machine à courant triphasé (M) est déterminée. Ladite au moins une grandeur caractéristique électrique est évaluée, de manière à conclure, en fonction d'une valeur ou d'une variation dans le temps de valeurs de ladite au moins une grandeur caractéristique électrique, à un état statique ou à un état rotatif du rotor (L). Lorsque la présence d'un état rotatif du rotor (L) est établie, des contre-mesures sont prises.
PCT/EP2018/076126 2018-09-26 2018-09-26 Procédé pour maintenir la position de rotation d'un rotor, sollicité par un couple extérieur, d'une machine à courant triphasé à excitation doté d'un démarreur progressif et machine à courant triphasé Ceased WO2020064099A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE112018008024.2T DE112018008024A5 (de) 2018-09-26 2018-09-26 Verfahren zum Halten der Drehstellung eines mit einem externen Moment beaufschlagten Läufers einer permanenterregten Drehstrommaschine mit einem Sanftstarter und Drehstrommaschine
PCT/EP2018/076126 WO2020064099A1 (fr) 2018-09-26 2018-09-26 Procédé pour maintenir la position de rotation d'un rotor, sollicité par un couple extérieur, d'une machine à courant triphasé à excitation doté d'un démarreur progressif et machine à courant triphasé
CN201880097932.9A CN112740541B (zh) 2018-09-26 2018-09-26 保持三相电机的转子的旋转位置的方法和三相电机

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2018/076126 WO2020064099A1 (fr) 2018-09-26 2018-09-26 Procédé pour maintenir la position de rotation d'un rotor, sollicité par un couple extérieur, d'une machine à courant triphasé à excitation doté d'un démarreur progressif et machine à courant triphasé

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WO2020064099A1 true WO2020064099A1 (fr) 2020-04-02

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PCT/EP2018/076126 Ceased WO2020064099A1 (fr) 2018-09-26 2018-09-26 Procédé pour maintenir la position de rotation d'un rotor, sollicité par un couple extérieur, d'une machine à courant triphasé à excitation doté d'un démarreur progressif et machine à courant triphasé

Country Status (3)

Country Link
CN (1) CN112740541B (fr)
DE (1) DE112018008024A5 (fr)
WO (1) WO2020064099A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0292685A1 (fr) * 1987-05-27 1988-11-30 Inventio Ag Entraînement d'élévateur avec appareil de commande pour déplacement sans à coup
WO2006034977A1 (fr) * 2004-09-28 2006-04-06 Siemens Aktiengesellschaft Procede pour determiner et specifier des parametres d'un appareil de commande electronique moteur et positionneur triphase a parametrage automatique associe, en particulier demarreur progressif
WO2018072810A1 (fr) 2016-10-17 2018-04-26 Siemens Aktiengesellschaft Procédé d'orientation d'une machine triphasée à démarrage progressif et machine triphasée

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JP3427575B2 (ja) * 1994-06-29 2003-07-22 国産電機株式会社 直流ブラシレスモータ及びその停止方法
MY119900A (en) * 1995-03-14 2005-08-30 Panasonic Corp Refrigerating apparatus, and refrigerator control and brushless motor starter used in same
CN1702222A (zh) * 2005-06-24 2005-11-30 西北工业大学 一种缝纫机伺服系统
CN201639527U (zh) * 2010-03-19 2010-11-17 天津市瑞灵自动化工程有限公司 三相异步电动机能耗制动器
CN101924515B (zh) * 2010-08-23 2011-12-21 夏大洪 抽油机悬停调速技术
CN102198805B (zh) * 2011-03-09 2016-09-28 王子辉 一种永磁电机驱动的纯电动汽车坡道驻坡方法
CN104038005A (zh) * 2014-05-06 2014-09-10 北京赛思亿电气科技有限公司 可作电动机使用的船舶轴带发电机及其运行状态切换方法
CN104129691B (zh) * 2014-05-09 2017-02-15 徐州中矿大传动与自动化有限公司 一种矿井提升机悬停控制装置及悬停控制方法
CN106927330B (zh) * 2017-03-14 2019-06-04 日立电梯（中国）有限公司 电梯制动控制方法及系统

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0292685A1 (fr) * 1987-05-27 1988-11-30 Inventio Ag Entraînement d'élévateur avec appareil de commande pour déplacement sans à coup
WO2006034977A1 (fr) * 2004-09-28 2006-04-06 Siemens Aktiengesellschaft Procede pour determiner et specifier des parametres d'un appareil de commande electronique moteur et positionneur triphase a parametrage automatique associe, en particulier demarreur progressif
WO2018072810A1 (fr) 2016-10-17 2018-04-26 Siemens Aktiengesellschaft Procédé d'orientation d'une machine triphasée à démarrage progressif et machine triphasée

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DE112018008024A5 (de) 2021-06-10
CN112740541B (zh) 2024-09-27
CN112740541A (zh) 2021-04-30

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